Systems and methods of wireless position tracking

ABSTRACT

Position and orientation tracking systems and methods include a transmitting antenna transmitting a radio frequency (RF) signal. At least one receiving antenna acquires the RF signal. One of the at least one receiving antenna and the transmitting antenna is designated a reference antenna. A processing unit determines a phase difference between the RF signal received by each receiving antenna and the reference antenna. The processing unit computes a position of the transmitting antenna with respect to the at least one receiving antenna in response to the phase difference determined for each receiving antenna.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a division of, and claims priority to and thebenefits under 35 U.S.C. §§ 120 and 121 of, co-pending U.S. applicationSer. No. 14/354,833 filed Apr. 28, 2014 and titled “SYSTEMS AND METHODSOF WIRELESS POSITION TRACKING,” which claims the benefit of and priorityto U.S. provisional application No. 61/558,032, filed Nov. 10, 2011 andtitled “Wireless Tracking System using CDMA and Phase for TimingComparisons,” and the benefit of and priority to U.S. provisionalapplication No. 61/558,082, filed Nov. 10, 2011, titled “Radio FrequencyTracking Device,” the entireties of which applications are incorporatedby reference herein for all purposes.

FIELD OF THE INVENTION

The invention relates generally to position tracking systems and method.More particularly, the invention relates to systems and methods forwireless position tracking of mobile handheld, wireless, and wireddevices.

BACKGROUND

Position tracking involves identifying an entity's location in apredefined environment (e.g., two dimensional or three dimensional).Certain methods for position tracking involve a transmitter (e.g., anelectronic tag) that is tracked by an array of receiver devices. Forexample, one method to track the position of a radio signal emitting tagis to use the amplitude of the tag signal at the various receiverdevices to determine the position of the tag. By comparing the signalstrength at each receiver position, a position tracking system can usetriangulation or trilateration to determine the position of the tag.

SUMMARY

In one aspect, the invention features a position tracking systemcomprising a radio frequency (RF) transmitter transmitting an RF signal,an RF receiver in communication with the RF transmitter to receive theRF signal, and a controller in communication with the RF receiver toreceive the RF signal and to perform a time of flight estimation of theRF signal from the transmitter to receiver and to measure phase shiftfor sub-wavelength determination. A computing system, in communicationwith the controller, receives the time of flight estimation and themeasured phase shift and determines a position of the RF transmitterwith respect to the RF receiver in response to the time of flightestimation and measured phase shift.

In another aspect, the invention features a position tracking systemcomprising a transmitting antenna transmitting a radio frequency (RF)signal and at least one receiving antenna acquiring the RF signal. Oneof the at least one receiving antenna and the transmitting antenna isdesignated a reference antenna. A processing unit determines a phasedifference between the RF signal received by each receiving antenna andthe reference antenna. The processing unit computes a position of thetransmitting antenna with respect to the at least one receiving antennain response to the phase difference determined for each receivingantenna.

In another aspect, the invention features a method of tracking positionof a transmitting antenna comprising receiving a radio frequency (RF)signal, transmitted by the transmitting antenna, by at least onereceiving antenna. One of the antennae is designated as a referenceantenna. A phase difference is determined between the RF signal receivedby each receiving antenna and the reference antenna. A position of thetransmitting antenna with respect to the at least one receiving antennais computed in response to each phase difference determined for eachreceiving antenna.

In still another aspect, the invention features a method of trackingposition comprising receiving a radio frequency (RF) signal, transmittedby a transmitting antenna, by a receiving antenna, performing a time offlight estimation of the RF signal from the transmitting antenna to thereceiving antennae, measuring phase shift between the transmitted RFsignal and the received RF signal at each receiving antenna, anddetermining a position of the transmitting antenna with respect to thereceiving antennae in response to the time of flight estimation and themeasured phase shift at each receiving antenna.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of an embodiment of a position tracking systemincluding a transmitter, one or more receivers, a controller unit, and acomputer system.

FIG. 2 is a block diagram of an embodiment of a transmitter whoseposition is tracked by the position tracking system of FIG. 1.

FIG. 3 is a block diagram of an embodiment of the controller of FIG. 1.

FIG. 4 is a block diagram of an embodiment of the reference signalgenerator of FIG. 3, including the carrier and PN code generator.

FIG. 5 is a graph showing code tracking time difference.

FIG. 6 is a graph of carrier recovery signals showing carrier phasedifferences.

FIG. 7 is a block diagram of an embodiment of the position trackingsystem.

FIG. 8 is block diagram of another embodiment of a position trackingsystem.

FIG. 9 is a graph of phase discontinuity.

FIG. 10 is a graph of unwrapped phase.

FIG. 11 is a flow diagram of an embodiment of a process for calculatingposition and orientation using CDMA (Code Division Multiple Access) andunwrapped phase data.

FIG. 12 is a block diagram of an embodiment of a tracking and/orcommunication system.

FIG. 13 is a block diagram of an embodiment of a transmitter.

FIG. 14 is an example of an ID frequency hopping time pattern.

FIG. 15 is a block diagram of an embodiment of a central processing unit(CPU).

DETAILED DESCRIPTION

Position tracking systems described herein comprise a plurality ofdistinct, physically separated receivers, with antenna and hardware, andone or more transmitters, with antenna and hardware. To track a singletransmitter (antenna), some embodiments of the position tracking systemsinclude three receiver antennae for two-dimensional tracking and atleast four receiver antennae for three-dimensional tracking. Thereceiver antennae provide a position reference frame in which thetransmitter antenna is tracked. The receiver antennae are fixed in thetracking environment at known locations. Additional receiver antennaeprovide better coverage and more accuracy than fewer antennae, withadditional complexity and cost. In one embodiment, the receiver antennaereceive signals from a wireless transmitter and use the time of arrivalinformation of those signals to calculate device position. The timinginformation is calculated using the carrier signal phase information ofthe transmitter, received at each receiver antenna, to compare time ofarrival at each receiver antenna.

More transmitter antennae attached to or embedded in a tracked objectallow the orientation of the object to be calculated based on geometricprinciples. For example, two transmitter antennae, separated by adistance d, yield a pointer, because the two transmitter antennae form aline with known direction. Three transmitter antennae provide enoughinformation to calculate a three-dimensional orientation. Theconfiguration of the position tracking system can be reversed, with thereceiver antennae being tracked and the transmitter antennae providingthe reference frame.

FIG. 1 shows an embodiment of a position tracking system 10 including atransmitter 12, a receiver network 14, a controller 16, and a computersystem 18. The transmitter 12 may be carried by, attached to, orembedded in an object whose position (x, y, z) is to be dynamicallydetermined. The transmitter 12 can be embodied in such objects as amobile cell phone, television or game controller, a tablet or laptop,etc. The receiver network 14 includes at least three receivers 20-1,20-2, 20-3 (generally, 20). Each receiver 20 includes an antenna 22 anda low-noise amplifier (LNA) 24. The position (X, Y, Z) of each receiverantennae 22 is known. The antennae 22 are disposed near or around thetransmitter 12. The transmitter 12 and each receiver 20 are in wired orwireless communication with the controller 16, which is in communicationwith the computer system 18. Although FIG. 1 shows three receivers eachwith one antenna, other embodiments can have fewer receivers, whereinone or more of the receivers have multiple antennae.

In brief, the three receivers 20 and transmitter 12 are used todetermine the three-dimensional position of the object within thetracking environment. The transmitter 12 associated with an objectcontinuously transmits pseudo noise (PN) code modulated RF (radiofrequency) signals. The antenna 22 of each receiver 20 receives themodulated signals from the transmitter 12. The LNAs 24 amplify thereceived CDMA (Code Division Multiple Access) signals and send them tothe controller 16 over communication links 26 (e.g., cables).

The controller 16 obtains a set of PN code correlative pulses through acorrelation process and detects the carrier signals. The PN codecorrelative pulses and carrier signals are supplied to a codediscriminator and a carrier phase discriminator, respectively, withincontroller 16. The code discriminator and carrier phase discriminatorprovide the coarse and fine measurement of the time difference ofarrival of the transmitted RF signal, respectively. Combining the coarseand fine time differences of arrival eliminates ambiguity and provideshighly accuracy position determination. The controller 16 sends the datato the computer system 18 to calculate the transmitter antenna position(x, y, z). The computer system 18 can display the position on a computerscreen (e.g., as a cursor) or provide the transmitter position to anapplication for further use.

FIG. 2 shows an embodiment of the transmitter 12 including an antenna30, an RF source 32, a Bi-Phase Shift Key (BPSK) modulator 34, anamplifier 36, a power divider 38, a reference oscillator or clock 40 anda pseudo-noise (PN) code generator 42.

During operation, the reference oscillator or clock 40 produces a stablereference clock signal, which passes to the PN generator 42 and to theRF source 32. Based on the reference clock signal, the RF source 32produces an RF signal and the PRN code generator 42 produces a PN code.The Bi-Phase Shift Key (BPSK) modulator 34 combines the RF signalreceived from the RF source and the PN code received from the PRN codegenerator 42 to produce a modulated CDMA signal for transmission. Theamplifier 36 receives and amplifies the CDMA signal. The power divider38 delivers the CDMA signal to the transmit antenna 38 for RFtransmission and to the controller 16 over a communication link 26.

FIG. 3 shows an embodiment of the controller 16 including a referencesignal generator 50 in communication with a carrier phase discriminator52 and a code timing circuit 54. The reference signal generator 50 is incommunication with the transmitter 12 to receive the modulated CDMAsignal. The controller 16 also includes a BPSK demodulator 56, a bufferamplifier 58, code delay-lock discriminators 60, voltage controlledoscillator 62, and a PN code generator 64. The BPSK demodulator 56 andcode delay-lock discriminators 60 receive the CDMA signals acquired bythe receivers 20 of the receiver network 14. Each of the code VCXO 60,carrier phase discriminator 52 and a code timing circuit 54 are incommunication with an analog-to-digital Converter (ADC) circuit 66. TheADC circuit 66 is in communication with a data buffer circuit 68. Thedata buffer circuit 68 is in communication with the computer system 18.

The reference signal generator 50 provides a set of carrier signals 70to the carrier phase discriminator 52 and code synchronizing signals 72to the code timing circuit 54. The code timing circuit 54 performs acoarse measurement of time difference of arrival to provide an absoluteposition measurement at low resolution. The carrier phase discriminator52 produces a fine measurement of the time difference of arrival toachieve high resolution of the object position. The ADC circuit 66receives and digitizes the set of measured carrier phase informationfrom the carrier phase discriminator 52 and the code time differenceinformation received from the code timing circuit 54. The buffer 68buffers this digitized information, which is sent to the computer system18 for object position calculations.

FIG. 4 shows an embodiment of the reference signal generator 50,including a BPSK demodulator 80, a buffer amplifier 82, a codedelay-lock discriminator circuit 84, a voltage controlled oscillator 86,and a PN code generator 88. The code delay-lock discriminator circuit84, voltage controlled oscillator 86, and PN code generator 88 form adelay lock loop (DLL) circuit 90. After the DLL circuit 90 becomessynchronized, the PN code generator 88 generates a synchronization PNcode used to despread the received CDMA signals at the BPSK demodulator80. This produces the carrier reference signal 70, which passes to thecarrier phase discriminator 52 after amplification by the buffer amp 82.The DLL circuit 90 also produces the code reference signal 72 thatpasses to the code timing circuit 54 of FIG. 3.

FIG. 5 shows a set of correlative pulses including a referencecorrelative pulse and three received correlative pulses from receivers20-1, 20-2, and 20-3. FIG. 6 shows a set of recovered carrier signalsincluding a reference carrier signal from the reference channel andthree received carrier signals from receivers 20-1, 20-2, and 20-3.

FIG. 7 shows an example embodiment of the position tracking system 10 ofFIG. 1. In this embodiment, the reference clock 40 of the transmitter 12supplies a 5.8 GHz clock signal to the RF source 32 and to the PN codegenerator 42 to ensure that the PN sequence and the carrier signals aresynchronized. At the BPSK modulator 34, the 5.8 GHz RF signal ismultiplied (modulated) with a 10-bit pseudo-noise (PN) sequence at achip rate of 10 MHz received from the PN code generator 42. The BPSKmodulator 34 produces a spread spectrum signal 100 centered at 5.8 GHzwith a 10 MHz bandwidth. The amplifier 36 amplifies the signal 100. Thepower divider 38 splits the signal 100 between the transmitter antenna30 and the reference signal generator 50 of the controller 16. The BPSKdemodulator (multiplier) 80 of the reference signal generator 50generates the carrier reference signal 70 and the DLL circuit 90determines the amount of time delay introduced by the previous circuitryand provides the time delay necessary to synchronize the spreadingsequence. The DLL circuit 90 operates similarly to a phase locked loop.The code reference signal 72 passes to a 90-degree phase shifter 102 andto a multiplier 104 of the carrier phase discriminator 52.

The receiver antenna 22 acquires the RF signal 106 transmitted by thetransmitter 12. The amplifier (LNA) 24 of the receiver 20 amplifies thereceived signal 106. The BPSK demodulator 56 of the controller 16demodulates the RF signal to recover the 5.8 GHz carrier signal 112,phase (time) shifted. For recovering the carrier signal 112, the PN codegenerator 64 provides a 10 MHz 10-bit pseudo-noise (PN) sequence 110,clocked by the DLL 63 (FIG. 3), to the BPSK demodulator 80. The PNsequence 110 passes also to the code timing circuit 54. DLL 63 generatesa clock signal appropriately delayed to synchronize the PN sequence 110with the received RF signal 106. The code timing circuit 54 compares theoutput 110 of PN sequence generator 64 with the code reference signal 72provided by the PN sequence generator 42. The time difference betweenthe PN sequences 72, 110 represents the coarse time of flight 108 of thesignal. The coarse time of flight 108 passes to the A/D circuit 66.

The multiplier 104 of the carrier phase discriminator 52 uses thecarrier reference signal 70 received from the reference generator 50 todemodulate the real component (in-phase (I)) 116 of the recoveredcarrier signal 112. An integrator 118 integrates the real component 116for a period corresponding to an integral number of cycles of therecovered carrier signal 112, and provides the integrated real component120 to the A/D circuit 66.

The carrier phase discriminator 52 also includes a multiplier 114, whichreceives the carrier reference signal 70 shifted by 90 degrees by thephase shifter 102, and uses the phase-shifted signal to demodulate theimaginary component (out-of-phase (Q)) 122 of the recovered carriersignal 112. An integrator 124 integrates the imaginary component 122 fora period corresponding to an integral number of cycles of the recoveredcarrier signal 112, and provides the integrated imaginary component 126to the A/D circuit 66. The ratio of the two demodulated integratedsignals 120, 126 yields the phase shift of the recovered carrier signal112, which provides the fine measurement of the time of flight.

Additional receivers or receiver antennae can be utilized to provideadditional information to the algorithm that calculates the position ofthe transmitter. Additional transmitter antennae or transmitters can berigidly attached to provide a marker, where two rigidly attachedantennae or transmitters can provide vector orientation information(line between the antennae) and 3 or more non-concentric antennae canprovide three-dimensional orientation (multiple axes). A systemcontaining a single transmitter with multiple antennae and/or markerscan be used in medical procedures to provide the position and/ororientation of a medical object. A medical object can be a livingentity, a provider of medical or surgical services, a medical instrumentor a medical device. Multiple markers can also be tracked using other PNcodes to minimize interference. Multiple medical objects can be trackedusing multiple antennae and/or markers and relative measurements can bedetermined from the position and orientation of the variousantennae/markers. Such a system can also be used for registering medicalimaging with real time or non-real time surgical procedures and for realtime data fusion. As would be appreciated in the art, the systemdescribed can be reversed, that is, one receiver being associated withan object that is to be tracked and multiple transmitters emitting CDMAsignals.

FIG. 8 shows an example of the operation of a wireless position trackingsystem 10′ using phase for timing comparisons. A sine wave 150 is usedto modulate a pseudo-random noise sequence 152, as is known in the RFart, by a CDMA modulator 154. This type of modulation is commonly foundin cell phones and other wireless devices that utilize radio signals forcommunication. The signal is amplified (not shown) and sent to thetransmitter antenna 30. The signal is received by four receiver antennae22-1, 22-2, 22-3, 22-4 (generally, 22). In this example, one of thereceiver antennae 22-1, for example, is the reference. The four receiverantennae are demodulated by another pseudo-random noise sequence 156,which is identical to the PN sequence 152, although not synchronized intime to the PN sequence 152 (in other words, the starting points of thePN sequences 152, 156 are not the same). CDMA demodulators 158 retrievethe transmitted sine wave 150 from the signal received by the receiveantennae 22. A phase shifter 160 shifts the reference sine wave by 90°.Multipliers 162 multiply the other signals by the shifted reference sinewave, and integrators 164 integrate the resulting signals, to provide ameasure of the phase shift between the reference sine wave and the otherreceived signals (differential phase). An analog-to-digital converter166 converts the differential phases into a digital representation thatis used by a position and orientation (P&O) algorithm 170 that runs onthe computer system 168.

As known in the art, there are many variations possible to achieve thesame functionality. Many of the noted components can be part of thecomputer system 168. For example, the computer system 168 can generatethe sine wave 150 and the PN sequence 152. The multipliers 162 andintegrators 164 can be disposed after the A/D 166 and be performed in aDSP (digital signal processing device). Other embodiments can use lowpass filters instead of the integrators 164.

The P&O algorithm 170 is based on a best-fit method to the underlyingequations. In this phase-based position tracking system 10′, the phaseis used to measure distance, absolute and/or relative transmitterposition. The sine wave generator 150 can generate signals between 10MHzand 10GHz. This corresponds to wavelengths (λ) ranging from 30m to0.03m. 360° corresponds to one wavelength, and the distance iscalculated by measuring the phase differences of the transmitter signalrecorded at two receiver antennae. In the following equations, thevariables r1, r2, r3, and r4 represent the distances between thereceiver antennae positions and the transmitter position and arerepresented by the phases. Receiver positions are denoted asrcvr_posreceiver number,position coordinate, and are fixed, knownquantities. Position coordinate 1, 2, 3 represent x, y, z, respectively.

$\begin{matrix}{{r\; 1} = \sqrt{\left( {{rcvr\_ pos}_{1,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{1,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{1,3} - x_{3}} \right)^{2}}} & \left( {{Eq}.\; 1} \right) \\{{r\; 2} = \sqrt{\left( {{rcvr\_ pos}_{2,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{2,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{2,3} - x_{3}} \right)^{2}}} & \left( {{Eq}.\; 2} \right) \\{{r\; 3} = \sqrt{\left( {{rcvr\_ pos}_{3,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{3,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{3,3} - x_{3}} \right)^{2}}} & \left( {{Eq}.\; 3} \right) \\{{r\; 4} = \sqrt{\left( {{rcvr\_ pos}_{4,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{4,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{4,3} - x_{3}} \right)^{2}}} & \left( {{Eq}.\; 4} \right)\end{matrix}$

These four equations are used to solve for x₁, x₂, and x₃, whichrepresents the x,y,z, position of the transmitter, respectively. Thiscan be solved in a least squares algorithm, such as Levenberg-Marquardt,in a Kalman filter or similar algorithms.

When the wavelength is less than the tracking range, multiple cycles ofthe sine wave 150 occupy the tracking volume. To work in thisenvironment, the P&O algorithm 170 starts at a known location and tracksthrough the cycle-to-cycle variation in order to maintain absolutetracking. Because phase shifts are typically computed using thearctangent function, a phase discontinuity occurs every ±180° (as shownin FIG. 9). Unwrapping the phase, as shown in FIG. 10, provides for asmooth transition and allows accurate tracking to occur. Various methodscan be used to perform phase unwrapping. One example of such a method isdescribed in “A Vector Filtering Technique for SAR Interferometric PhaseImage,” by Wang Feng, et al. Another method uses an alpha-beta filter.Alpha-beta filtering is commonly used in radar tracking and is relatedto Kalman filtering. One example of alpha-beta filtering is described in“The Alpha-Beta Filter,” by Robert Penoyer, in the C Users Journal, July1993.

FIG. 11 shows an embodiment of a process 180 for calculating positionand orientation using CDMA and unwrapped phase data. At step 182, thephase_sum is set to zero and an initial phase value is saved. After thisinitialization of the first sample, all succeeding samples are obtainedin step 184. At step 186, the difference (t₁) between the latest and theprevious phase difference sample is calculated and the sine of thedifference (t₁) is calculated. This operation retains the sign of thedata and unwraps the data. The arcsine then converts the deltas backinto angles. The main processing of the alpha-beta filter occurs insteps 188 and 190. This takes the value from the arcsine and filters itaccording to the values of alpha and beta, which are determined toprovide good noise and dynamic performance. The output of the filter isaccumulated (step 192) in phase_sum. This accumulation keeps a runningtally of the change in phase difference. This is added to the initialphase difference value from step 182 and is called the unwrapped phase(output in step 194), which is used in the P&O algorithm 170.

At the end of each cycle, at step 196, S_(mn) is compared to S_(pn). Ifthe difference exceeds a tolerance, this indicates that the filter islost, for example, because of multipath or to a complete loss of signal.If the filter is lost, Ŝ_(n) and Û_(n) are set to zero at step 198 andprocessing continues at step 190. Otherwise, X_(n-1) is set to X_(n) atstep 200 and processing repeats with new data obtained at step 184. Eachphase difference gets its own unwrapping. The unwrapping typicallyoccurs in a processor.

Whereas CDMA techniques help to mitigate multipath interference,additional techniques can be used to increase the robustness of theposition tracking system. One technique uses additional receiverantennae. The additional receiver antennae provide additionalinformation in the event the signals of another receiver are corruptedby multipath effects. A loss or corruption of signal indicates that aparticular signal should not be used in the computation of the P&Oalgorithm 170. Another technique includes cycling the designation of thereference antenna through the receiver antennae. When the referenceantenna is blocked, all the phase difference signals are deemed corrupt.Cycling through the different receiver antennae gives the positiontracking system an opportunity to find a good reference. It may then bepossible to re-acquire signals on the next cycle. This can require moremultiplexing paths, and additional bookkeeping, but increases systemrobustness.

Another technique to make the position tracking system more robust,especially when the wavelength is less than the tracking volume (i.e.,range), is to keep track of signals that may be lost because ofmultipath effects or signal blockage. After a valid solution to the P&Oalgorithm 170 is available, the solution is used to calculate theexpected phase difference for the different channels. Under normalconditions, these calculated values closely agree to the measuredvalues. When a signal is lost, these calculated values can be usedinstead of the measured values shown in step 184. That way, after thechannel signal is unblocked and received again, it can resume being usedwithout losing track of the correct phase difference.

These methods can also be subsumed by a Kalman filter implementation ofthe unwrapping and the P&O algorithm. Because the tracking equations(Eq. 1-Eq. 4) can be formulated in a Kalman framework, both the P&Oalgorithm 170 and unwrapping can be performed in one consistentalgorithm. Because dynamic estimates are available in Kalmanformulations, these can be used to detect when signals are degradedand/or lost. Means for performing Kalman filtering are described in“Optimal Estimation with an Introduction to Stochastic Control Theory,”by Frank Lewis, Wiley-Interscience, 1986.

The sine wave 150 in FIG. 8 is described as a single frequency, whereits wavelength is either less than or greater than the tracking volume.Alternatively, multiple frequencies can be used together to provide bothcoarse and fine resolution phase difference signals. This provides bothabsolute and relative measurements concurrently. Multiple frequenciescan also be used to enhance multipath immunity, because differentfrequencies respond differently to multipath.

FIG. 12 shows an embodiment of a phase-based communication system 210that employs phase detection techniques for tracking position. Thecommunication system 210 includes a plurality of receivers 212-1, 212-2,a transmitter 214 whose identification and/or position is to bedetermined, and a central processing unit (CPU) 216 to process theelectromagnetic signals (e.g., radio, microwave), convert data, performcalculation of the coordinates of one or more transmitters, and identifythe ID information of each transmitter.

Receivers 212-1, 212-2 are part of the receiver network. Coordinates ofeach phase center of the receivers' antennae 218 are predetermined andused as coordinate references for correlating the coordinate location ofthe transmitter 214 within the receiver network. Also, the phase centerof the transmitter antenna is used as a reference for the coordinatelocation of the transmitter 214.

In this tracking and/or communication system, the transmitter 214continuously transmits pulsed signals in the form of multiplefrequencies, and the receivers 212-1, 212-2 receive the signals,amplify, and send these signals to the central processing unit 216 viacables. In the central processing unit 216, one or more phasediscriminators (not shown) are used to provide carrier phase differenceinformation between received carrier signals or between received signalsand reference signals. The central processing unit 216 also includes ananalog-to-digital (A/D) converter (not shown) to digitize the phasedifferences. According to the carrier phase difference information, theidentification of the transmitter 214, its physical positioninformation, or both, can be determined.

FIG. 13 shows an embodiment of the transmitter 214, including a VCO 218to generate a continuous RF or microwave signal, a Direct DigitalSynthesis (DDS) signal source 220, a pulse modulator 222, a poweramplifier 224, a power divider 226 (for wired reference channelembodiments), an antenna 228, and a microprocessor unit 230.

The VCO 218 in the transmitter 214 generates a continuous RF ormicrowave signal that depends on the signal frequency produced by theDDS source 220. In this system, any frequency can be chosen depending onthe requirement for the resolution of the coordinates (e.g., the higherthe frequency, the higher the resolution). The DDS signal frequencydepends on the Frequency Word controlled by the microprocessor 230. ThisDDS signal works as a reference clock for the VCO 218 to generatedifferent frequencies for hopping.

FIG. 14 shows an example output of a DDS signal source 220 usingdifferent time slots. The particular output is for illustration purposesonly; any sequence of the output of the DDS signal source 220, which canbe randomly chosen, can serve as the identification of the transmitter214. Returning to FIG. 13, in one embodiment the pulse modulator 222 isa switch controlled by the pulse signal generated by the microprocessor230 synchronized to the system crystal. This pulsed RF or microwavesignal is amplified by the power amplifier 224 and transmitted from theantenna 228. If the transmitter 214 is wired, the power divider 226 isused for a wired carrier phase reference. One path of the power divider226 is transmitted by the antenna 228 and one path is used as a carrierphase reference to the central processing unit 216. For a wirelessembodiment, the power divider 226 is not be used.

FIG. 15 shows an embodiment of the central processing unit 216 for apreferred embodiment in which the carrier phase differences determinethe identification, position coordinates, or both, of the transmitter214. In this embodiment, the central processing unit 216 includeslimiting amplifiers 240, a power divider 242, a pulse recovery andappropriate pulse generator circuit 244, a phase discriminator 246, ananalog-to-digital converter 248, data buffer 250, and a microprocessor252.

Each limiting amplifier 240 is used to limit the amplitude of the pulsedRF or microwave signal coupled from the receivers 212-1, 212-2 so thatthe output of each phase discriminator 246 is dependent on the carrierphase differences. The power divider 242 divides one of the receivedsignals for phase discriminating and pulse recovery. The phasediscriminator 246 is used to discriminate phase differences ofindividual hopped frequencies. The analog-to digital converter 248converts the carrier phase difference from analog to digital. The databuffer 250 functions as the storage space to store the digital data forthe data processing. The control signals for the A/D converters 248 andthe data buffer 250 come from the pulse recovery circuit 244.

The data collected from the data buffer 250 contains the phasedifferences of the different frequencies. As shown in thefrequency-hopping pattern of FIG. 14, the known frequency change patternprovides a phase difference pattern between transmitted frequencies.This information can be used to determine the identification of thetransmitter. Depending on the known hopping pattern, using a“best-line-fit” technique, the best line fit data for the collected dataand the associated error can be calculated to produce a range thatdetermines how many measured data are “good” and how many measured dataare “bad”. “Good” data means the phase differences of these frequenciesare useable, and “bad” data means the phase differences of thesefrequencies are too affected by multipath to use for comparisoncalculations. Ignoring the “bad” data and using the “good” data foraveraging is a preferred method for determining phase differences. Thesecarrier phase differences are used to determine the time difference ofarrival. Depending on the time differences of arrival at the receivers212-1, 212-2, the position information (i.e. the coordinates) of thetransmitter 214 can be determined. Because the carrier phase differencesof the received signals are a fraction of a wavelength of the carrierfrequencies, the position of the transmitter position can be obtainedwith high accuracy.

Although the preferred embodiments of the present invention have beendescribed herein, the above description is merely illustrative. Furthermodification of the invention herein disclosed will occur to thoseskilled in the respective arts and all such modifications are deemed tobe within the scope of the invention as defined by the appended claims.

1. A position tracking system comprising: a transmitting antennatransmitting a radio frequency (RF) signal modulated by a firstpseudo-random noise sequence; a plurality of receiving antennaeacquiring the RF signal, one of the plurality of receiving antennaebeing designated a reference antenna, the plurality of receivingantennae including at least three receiving antennae; a correspondingplurality of demodulators, each demodulator of the plurality ofdemodulators coupled to a respective one of the plurality of theplurality of receiving antennae and configured to demodulate the RFsignal received by the respective receiving antenna using a secondpseudo-random noise sequence; a processing unit determining phasedifferences between a reference recovered signal derived from thedemodulated RF signal received by the reference antenna and a recoveredsignal derived from the demodulated RF signal received by each remainingreceiving antenna of the plurality of receiving antennae, the processingunit computing a position of the transmitting antenna with respect tothe plurality of receiving antennae based on the determined phasedifferences.
 2. The position tracking system of claim 1 wherein thedesignated reference antenna is dynamically re-assignable among theplurality of receiving antennae.
 3. The position tracking system ofclaim 1 wherein a wavelength of the RF signal transmitted by thetransmitting antenna is smaller than a tracking volume in which thetransmitting antenna is located.
 4. The position tracking system ofclaim 1 further comprising a modulator coupled to the transmittingantenna and configured to produce and provide to the transmittingantenna the RF signal modulated by the first pseudo-random noisesequence.
 5. The position tracking system of claim 4 wherein themodulator is configured to modulate the RF signal using code divisionmultiple access modulation.
 6. The position tracking system of claim 4wherein the second pseudo-random noise sequence is identical to thefirst pseudo-random noise sequence, and wherein the first and secondpseudo-random noise sequences are not synchronized to one another. 7.The position tracking system of claim 6 wherein the processing unitincludes a phase shifter configured to impart a 90-degree phase shift tothe reference recovered signal to produce a phase-shifted referencerecovered signal.
 8. The position tracking system of claim 8 wherein theprocessing unit further includes a plurality of multipliers, eachmultiplier configured to receive the phase-shifted reference recoveredsignal and the recovered signal from a respective one of the pluralityof demodulators, and to multiply the recovered signal by thephase-shifted reference recovered signal to provide a resulting signal.9. The position tracking system of claim 8 wherein the processing unitfurther includes a plurality of integrators, each integrator configuredto receive and integrate the resulting signal from a respective one ofthe plurality of multipliers to determine the phase differences.
 10. Theposition tracking system of claim 9 wherein the processing unit furtherincludes an analog-to-digital converter configured to convert the phasedifferences into a digital representation, and a computer systemconfigured to execute a position and orientation algorithm using thedigital representation to compute the position of the transmittingantenna with respect to the plurality of receiving antennae.
 11. Theposition tracking system of claim 1 wherein the processing unit appliesa filter to unwrap phase for each determined phase difference.
 12. Theposition tracking system of claim 1 wherein the processing unitdetermines a solution for the position of the transmitting antenna, usesthe solution to calculate an expected phase difference for eachreceiving antenna, and uses the calculated expected phase difference fora given receiving antenna when the given receiving antenna loses thetransmitted RF signal.
 13. The position tracking system of claim 1wherein the at least three receiving antennae are disposed at knownlocations, and wherein the processing unit computes a two-dimensionalposition of the transmitting antenna.
 14. The position tracking systemof claim 1 wherein the at least three receiving antennae includes atleast four receiving antennae disposed at known locations, and whereinthe processing unit computes a three-dimensional position of thetransmitting antenna.
 15. The position tracking system of claim 1further comprising at least two additional transmitting antennaedisposed at known positions.
 16. The position tracking system of claim 1wherein the RF signal includes an identifier associated with thetransmitting antenna, the identifier corresponding to a code generatedfrom a predetermined sequence of frequency hops.
 17. A method oftracking a position of a transmitting antenna, comprising: receiving aradio frequency (RF) signal modulated by a first pseudo-random noisesequence, transmitted by the transmitting antenna, with at least threereceiving antennae; designating one of the at least three receivingantennae as a reference antenna; demodulating the RF signal received bythe reference antenna with a second pseudo-random noise sequence toproduce a reference recovered signal; demodulating the RF signalreceived by each remaining receiving antenna of the at least threereceiving antennae with the second pseudo-random noise sequence toproduce recovered RF signals; determining phase differences between thereference recovered signal and the recovered signals; and computing theposition of the transmitting antenna with respect to the receivingantennae based on the computed phase differences.
 18. The method ofclaim 17, further comprising applying a filter to unwrap phase for eachof the computed phase differences.
 19. The method of claim 17, furthercomprising determining a solution for the position of the transmittingantenna, calculating an expected phase difference for each receivingantenna based on the solution and previous phase data, and using theexpected phase difference calculated for a given receiving antenna whenthe given receiving antenna loses the transmitted RF signal.
 20. Themethod of claim 17, further comprising generating an identifierassociated with the transmitting antenna by generating a code from apredetermined sequence of frequency hops.
 21. A position tracking systemcomprising: a plurality of transmitting antennae each transmitting aradio frequency (RF) signal modulated by a first pseudo-random noisesequence, the plurality of transmitting antennae including at leastthree transmitting antennae and one of the plurality of transmittingantennae being designated a reference antenna; a receiving antennaconfigured to receive the RF signals transmitted by the plurality oftransmitting antennae; a demodulator coupled to the receiving antennaand configured to demodulate the RF signals received by the receivingantenna using a second pseudo-random noise sequence; a processing unitdetermining phase differences between a reference recovered signalderived from the demodulated RF signal transmitted by the referenceantenna and a recovered signal derived from the demodulated RF signaltransmitted by each remaining transmitting antenna of the plurality oftransmitting antennae, the processing unit computing a position of thereceiving antenna with respect to the plurality of transmitting antennaebased on the determined phase differences.
 22. The position trackingsystem of claim 21 wherein the designated reference antenna isdynamically re-assignable among the plurality of transmitting antennae.23. The position tracking system of claim 1 wherein a wavelength of eachof the RF signals transmitted by the transmitting antennae is smallerthan a tracking volume in which the receiving antenna is located. 24.The position tracking system of claim 21 wherein the secondpseudo-random noise sequence is identical to the first pseudo-randomnoise sequence, and wherein the first and second pseudo-random noisesequences are not synchronized to one another.
 25. The position trackingsystem of claim 21 wherein the processing unit applies a filter tounwrap phase for each determined phase difference.
 26. The positiontracking system of claim 21 wherein the at least three transmittingantennae are disposed at known locations, and wherein the processingunit computes a two-dimensional position of the receiving antenna. 27.The position tracking system of claim 21 wherein the at least threetransmitting antennae includes at least four transmitting antennaedisposed at known locations, and wherein the processing unit computes athree-dimensional position of the receiving antenna.